/**
* Set the index source for the encoder. When this source is activated, the encoder count automatically resets.
*
* @param channel A DIO channel to set as the encoder index
* @param type The state that will cause the encoder to reset
*/
void Encoder::SetIndexSource(uint32_t channel, Encoder::IndexingType type) {
int32_t status = 0;
bool activeHigh = (type == kResetWhileHigh) || (type == kResetOnRisingEdge);
bool edgeSensitive = (type == kResetOnFallingEdge) || (type == kResetOnRisingEdge);
setEncoderIndexSource(m_encoder, channel, false, activeHigh, edgeSensitive, &status);
wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
}
/**
* Set the index source for the encoder. When this source is activated, the encoder count automatically resets.
*
* @param channel A digital source to set as the encoder index
* @param type The state that will cause the encoder to reset
*/
void Encoder::SetIndexSource(DigitalSource *source, Encoder::IndexingType type) {
int32_t status = 0;
bool activeHigh = (type == kResetWhileHigh) || (type == kResetOnRisingEdge);
bool edgeSensitive = (type == kResetOnFallingEdge) || (type == kResetOnRisingEdge);
setEncoderIndexSource(m_encoder, source->GetChannelForRouting(), source->GetAnalogTriggerForRouting(), activeHigh,
edgeSensitive, &status);
wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
}
/*
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
* Method: setEncoderIndexSource
* Signature: (JIZZZ)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderIndexSource
(JNIEnv * env, jclass, jlong id, jint pin, jboolean analogTrigger, jboolean activeHigh, jboolean edgeSensitive)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderIndexSource";
ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << (void*)id;
ENCODERJNI_LOG(logDEBUG) << "Pin = " << pin;
ENCODERJNI_LOG(logDEBUG) << "Analog Trigger = " << (analogTrigger?"true":"false");
ENCODERJNI_LOG(logDEBUG) << "Active High = " << (activeHigh?"true":"false");
ENCODERJNI_LOG(logDEBUG) << "Edge Sensitive = " << (edgeSensitive?"true":"false");
int32_t status = 0;
setEncoderIndexSource((void*)id, pin, analogTrigger, activeHigh, edgeSensitive, &status);
ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
* Method: setEncoderIndexSource
* Signature: (Ljava/nio/ByteBuffer;IZZZLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderIndexSource
(JNIEnv * env, jclass, jobject id, jint pin, jboolean analogTrigger, jboolean activeHigh, jboolean edgeSensitive, jobject status)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderIndexSource";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
ENCODERJNI_LOG(logDEBUG) << "Pin = " << pin;
ENCODERJNI_LOG(logDEBUG) << "Analog Trigger = " << (analogTrigger?"true":"false");
ENCODERJNI_LOG(logDEBUG) << "Active High = " << (activeHigh?"true":"false");
ENCODERJNI_LOG(logDEBUG) << "Edge Sensitive = " << (edgeSensitive?"true":"false");
ENCODERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
setEncoderIndexSource(*javaId, pin, analogTrigger, activeHigh, edgeSensitive, statusPtr);
ENCODERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
